Control system



NOV. 16, 1937. 5CH1EBELER 2,099,576

CONTROL SYSTEM Filed Aug. 18 1956 Inventor:

Car *l Schiebeler Patented Nov. 16, 1937 UNITED STATES CON'IBOL SYSTEM Gar] Schlebeler,

Berlin-Charlottenburg,

Ger-

mtmy, assignor to General Eiectric Company, a corpontion o! New York Appiication August 18. 1936, Serial N0. 96,620 In Germany September 20, 1935 'I'his invention relates to oontrol Systems. more particularly so systems 1'or controlllng the operation f electric motors, and it has tor an object the provision of a simple, reliable und improved system 0f this character.

More specifically the invention relates to coui:rol systems for altemating current Induction motors, drivlng hoists and the like, which are subjected at times to light non-overhauling loads. und a further object oi the invention ls the provision cf means ior controlling the motor 130 lower a light nonoverhauling load at low speed.

Conditions encountered in actual practice also eilen require that an over-hauling load be W- er ec'i at iow speed. For the purpose of lowering over-hauling load, the master switch is usually 3'1 igned to provide plugging operation er reverse current braking und is usually pr0vided wlth a plurality of plugging positions 011 the 10W- ering side. The plugging torque in the flrst brakfing position is usually 011 sufllcient magnitude to lewer full load at. slow speed. At each successive 7;.os'ition, the plugging torque is weakened by innxeasing the resistance interposed in the m0tor eircuit and the size of the load that can be lowered iow speed is correspondingly decreased. The plugging resistance for euch braking positio n is aalculated for a definite size 01 load. If a greater load is applied, the lowering speed increases abruptly, and if a smaller load is applied, the plugging torque decreases the lowering speed i:o

h an exteni: that the motor may even stop, rese ancl stari; hoisting the load. 'I'his, of course, .snot perrnissible, and accordingl-y a still further object of this invention is the provision cf means im lowering an over-hauling load ab low speed by yslugging the driving motor, i. e., reversing i.ts W ver connections, or by means of mechanical king if the plugglng torque decreases the speed o: the driving motor below a predetermined low ea.rrying Ehe invention into effect in one here0f this is accomplished by tranSferring raverse current braking to a combination 01 pow-er .iowering and mechanical braking action the piugging reduces the lowering speed be- ?ow a predetermined value. Means are provided for controlling the mechanical braking in dependence upon the speed of the driving motor. In one form, these means comprise an electrohydraulic operating mechanism, the motor of which is connected to .the secondary winding 01 ehe hoist motor. As an alternative, the motor cf the electro-hydraulic operating mechanism may be connected to another source 01 voltage having e. frequency proportional to the speed 01 the hoisting motor, such tor example a.s a frequency convttrter driven by the hoisting motor.

In illustrating the invention in one form thereof, it is shown as embodied in a. control system 1or a. motor utilized for driving hoists and the 1ike. For a bettet und more complete understanding oi! this invention, reference should now be had 130 the following speciflcation and to the accompahying drawing, the single flgure of which is a simple diagrammaticai representation o! an embodiment of the invention. Referring now to the drawing, an electric motor I0 is mechanically connected to the winding drum II o1 a holst or similar apparatus which under certain operating conditions may impose a ligh t, non-overhauling load on the mo tor I0 und which under certain other operating conditions may impose an over-hauling load on the motor. The motor I0 is illustrated as an alternating current motor o! the wound rotor induction type. Power is supplied i:o this mutmfrom a suitable source represenized by the three supply lines I2 to which the primary winding is arranged to be connected through conductors I3 by means o1 suitable reversing switching mechanism illustraized a.s a pair o1 electromagnetically operated contactors I4 and I5. When contactor I5 is closed, izhe motor I0 is energized for rotation in such a. direction as to lower the load and when contactor II is; closed, motor I0 is energized for rotation in i:he hoisting direction. The drum of a mechanical brake I6 is mounted on the motor shai't IT. Suita.ble means, iliustrated as a spring I8 are provided for biasing the braking shoes 6a, IG to braking position, and elecizro-hydraulic op- 35 erating mechanism I 9 is provided 1'or releasing the brake shoes. This lectro-hydraulic operating mechanism comprises a piston immersed within a. cylinder containing 011 or other suitable fluid and connected by means of a connecting rod to 4 the arm of the brake shoe ac'cuating mechanism, and an impeller within the cylinder driven by an electric motor 2I for producing a liquid pressure against the piston of sufficient magnitude t0 release the brake shoes Sa, I6b against the blas o1 the spring I0.

A control relay 22 is provicled for connecting the motor 2I o! the hvdraulic operating mechanism to the source I2 150 effect release of izhe brake. Another control relay 23 is provided for quency changer 24. A control relay 25 is provldecl Ion: connecting the primary winding ot this ttequency changer to the supply source I2 and an additional control relay 25 is provided i.'or counecting the motor 2I cf the electro-hydraulic op-' erating mechanism Iso the secondary winding o! the trequency changer under certain operating condltions.

A control switching device 21 serves to interrupt the plugging braking connectlons tot the motor I0 and to reestabllsh the power driving connections therefor in the eveni; tha.t the plugging torque Is sui'flcient to stop the motor and start it in the reverse directim. Under these conditions the switching devic.-: 27 also operates to disconnect the motor 2I 013 the electro-hydra.ulic operatlng mechanism trom the source I2 and to connect it to the seconda.ry winding of motor I 0. A multi-position master switch 23 is provided for controlling the starting, braking .and stopping o! motor I0. This type cf master switch is usually provided with a. number o1 segments and flngers Ior controlling the amount of resistance in the secondary clrcuit of the motor. Such segments and flngers have been omitted. 1'rom the drawing in the interest of slmplicity. This type o1. master switches is also usually provided With a. plurality of positions for controlling the hoisting operation of the motor. In the drawing, only that half of the master switch for controlling the lowering operation ls shown, since this is suflcient for illustrating the invention.

With the foregoing understanding of the apparatus and its vorga.niza.izion in the completed system, the operation o! the system itself will readily be undersizood from the following detailed description. The master swltch 28 is illustraied in its central or off position and the apparatus is, therefore, illustrated in its normal deenergized condition with the brake shoes I6, I6b sei: against the brake drum by means o1 the spring I3. Positions I, 2, 3, and 4 of the master switch a.re braking positions and positions 5 and 6 are power lowering positlons. If the master switch is thrown quickiy from the central or ofl? position to one o1 the power lowering positions, for example to position 5, the relay contactor 22 is energized. Its energizing circuil: is traced from the lower supply line I2 by conductors 29 and 30. through the operating coil of relay 22, normally closed interlocks 015 relays 26 and 23, conductors 3I and 32, fingers 280 and 284 (bridged by segments 013 the master switch in the fifth position thereot) conductor 33, intermediate norma.lly closed interlocks of relay 34 and thence by conductor 35 I:o the upper side of the supply source I 2. The relay contactor 22 responds to energization and closes its main contacts to connect the motor 2I 01 the electro-hydraulic operating mechanism the supply source I2. The electro-hydraulic operating mechanism I9 responds to rotation o1 its driving motor 2I and produces a. thrust on the connecting rod 20 which releases the bralce shoes Sa, lliagainst the bias of the spring I8. Simultaneously, the lowering contactor I5 is energized. The circuit is traced from the upper side of the supply source I2 through fingers 28 and 231 of the master switch, normally closed interlocks cf hoisting contactor I4, operating coil 013 lowering 'contactor I5 and thence to the lower side 01 the suppiy source I2. Contactor I5 closes its coutacts and connects the prlmary winding of the motor I0 to the supply source ifor rotation in the lowering direction. II: will be noi:ed that in passing through positions I-4, the master swii;ch does not energize any 01 the control apparatus, provided that the push buttons 26 and 31 am nol: closed. In the sixth posltion 02 the controllet, the secondary contactors (not Shown) are all closed automatically in correci. sequence to shortcircuit the secondary resistance and bring the motor I0 up t0 speed. This is conventional and well understood by persons skilled in the art and is, therei'ore, not illustrated in the drawing.

As the motor comes up to speed, in the lowering direction, the contacts of relay 21 are closed.

An aiternatlng current induction motor of the wound roter type connected to lower a load, can only exert a braking torque aI; super-synchronous speed. A light load insuflicient to overcome the frlction and losses in the drive will be lowered by power taken 1'rom the source I2 by motor I0.

If lt is desired to lower the load at low speed, the mastr switch is movtad from points 5 or 5 toward the righi: to one of thebraking positions I, 2, 3, or 4. As the master' switch is moved from the fli!th i:o the fourth position, the energizing circuit i!or the lowering contactor I5 is interrupted and an energizing clrcuit for hoisting coutactor I4 is comfileted. The energizing circuit for the hoisting contactor is traced from the lower supply line I2 through left-hand conductor I3, operating coil of contactor I4, normally closed interlocks of lowering contactor I5 now deenergized, conductor 38, intermediate interlocks o1 relay 22, concluctor 39, flngers 28 and 28g bridged by segments o1 the master switch. The flnger 280 is connected to the upper side of the supply source I2 as previously traced. The hois ting coutactor I4 closes in respbnse to energization and connects the motor I0 to the line for rotation in a. direction opposite to that in which lt is rotating. This is referred to as plugging the motor and this causes the motor to produce a powerful braking torque. When the master switch was movecl from the flfth to the fourth position, the energizing circuit of the relay 22 was not interrupted, but was maintained through the contacts 01 the switching device 2'I. These contacts rema.in closed as lang as the speed 01 the motor I0 is greater than some predetermined low value.

In the fourth position of the master switch, an energizing circ'uit is established for the control relay 40, which circuit is traced from the lower supply line I2 to the dperating coil of relay 40, upper and intermediate interlocks of relay 22, conductor 39 and flngers 28b and 280 bridged by the segments of the master switch. The relay 40 responds to close both its upper and lower coutacts. In closing its upper contacts, relay 40 completes a holding circuit independent of the interlock contacts of relay 22.

If the plugging torque is too great and stalls the motor, relay 21 opens its contacts and thereby interrupts the energizing circuit of the relay 22, which in turn opens its main contacts to disconnect the motor 2I of the electro-hydraulic operating apparatus from the source I2. Owing to its holding circuit, the relay 40 remains energized and closed.

Relay 22 in opening completes an energizing circuit for qontactor 23. This circuit is traced from the lower supply line I2 through conductors 29 and 30, operating coil of relay 23, conductors 4I and 42, lower contacts of relay 40, intermediate interlock contacts of relay 22, and thence by couductor 39 to finger 28b and through the segments of the master switch to the power flnger 28. Contactgr 23 closes in response to energization and connects 121162110001 2I o1 the electro-hydraulic operatlng apparatus to the Slip rings o! the driving motor I8. Slmultaneuslymlay 22 In open- Ing Interrupts the energlzing' clrcult of the holst.

Ing conta itor I8 prevlously traced through the Intermediate- Interlocks of reh'zy 22. Holstlng contactor II opens in resporxse to deenerglzatlon und Its normally closed Interlocks complete an energlzing clrcult for the lowering contacjzor I5. Thls cirduit 1s traced from' the power flnger 28.: uf the master swltch through the segments of the xriaster swltch, flnger 28b, conductor .38, Intermedlate Interldck of relay 22, Iower contacts of xelay I0, thence by Conductols 82 und 8I und 1.1pper contacts of relay 23, qonduc'ztor 03, Interlock of holsting contactor I0, operating coIl of lowering contactor I5 and thence to the lower slde o! the supply source I2. ls reclosed and the hoisting motor I0 is new comnected to the source for rotation in the Iowering dlrectlon. Since the motor 2I of the electrohydraulic opemtor ls connected to the slip rings of the motor I0, the speed of motor 2I is a. 1'unction o! the voltage and frequency 01 the secondary wind- Ing of the motpr I0. The electro-hydraulic operating mechanism I9 produces a thrust proportlonal to the speed of the motor 2I and therefore -spring I 8.

this thrust which opposes the bias 01 I:he brakeapplying spring I8 Is also a function of the voltage and frequency of the secondary wlnding of the motor I0. If the speed cf the motor I0 increases the speed of the motor 2I decreases und thereby decreases the thrust whIch opposes the bias ot the Thls results o f course in lncreasing the bra.king force applied to the d1um of the brake. 'Ihe lncreased braking force tends I:o decrease the speed cf the motor I0 and this causes the speed of the motor 2I to increase and to reduce t-he bmking force on the drum. At some lntermediate speed, a balant:e is establlshed and the motor I0 continues to lower the loa.d at that; intermediate speed.

Ii the master' swltch is moved I:o any 01 the otiher braklng posltions I, 2, er 3 this balance is upset because the amount of the resistance in the secondary circult of the motor I0 is changed. A new balande 1s establi5'ned at some new speed. 'I'hus, the load can be lowered under complete. control a.t speeds below synchronous speed by a comblnation of motor torque, load torque and 'frlction braklng.

If lt is desire d to lower a 1Ight non-overhaullng load at low speed, the master swltch 28 is moved positlon I in the flx'st lnstance Instand ofbeing m0ved to posltions 5 or 8. The push button 36 1s operated to its .closed posltlon and. this completes an energ izing circuit for contactor 23. The clxcult is readily traced from the loWer side of the supply souxce I2 through the opera,ting coi1 of the contactor 23, conductor 4 I, contact cf push button 38, flngers 2a and through the segments of the master switch to the power finger 28a. Conta.ctor 23 closes in response to energization aixd cannects the motdr 2I cf the elec tro-hydraulic operatlng mechanism to the slip rings cf the n'1otor I 0. Contact0r 23 in closlng also c loses 1ts upper InterlockS to complete an energlzlng clrcuit !or the loweflng contactor I5, wh1ch clrcult Is t'raced from the lower sIde"of the supply souroe I2 to conduc- I:or I3, operalng coil of lowerIng contactor I0, n0rmtlly closed lnterlocks of hoisting contactox" II, conductor 43, upper lnterlock of relay 23 und thence by conductor 8I, contacts of p uah button nvitch 88, flnger 28 and segments of the mastcr nvltch I;o the poWer flnger 28c. Lowerlng cou- As result; lowering contactor I5 tactor I8 closes Its contacts and connects motor I0 theie is a. high reslstat1ce in the secondary clrcult 01 I:he motor I0. The maxImuxn reslstance in oommerclal Installatlons Is Insufliclent to redut:e the speed of the motor because even with a. high reslstance In the roter clrcult, a wound roter induction motor will run a.t hlgh speed if the load In llght. It is, therefore, necessary to apply a. false load to the motor I0 und thls Is accompllshed by means of the mechanIcal bmke and the electrohydraulic operating mechanlsm therefor. As the speed o! the motor I0 Increases, the speed of the motor 2I decreases and thereby Increases the braklng Iorce applied to the drum of the mechanical brake. 'I'h1s tends to decrease the speed of the motor I0 und increase the speed of the motor 2I und thereby relieve the braklng force. AI: some low speed of the motor I0 a balance Is establlshed und the motor I0 contlnues to lower Its Iight load at low speed.

I1? the loa.d an the motor I0 should be heavier than antlclpated, and a plugglng braklng torque appea.rs to be necessary to reduce the lowexing speed, the master switch 28 is operated from its first posltlon t0 any one of the plugglng braking posltions 2, 3, or 8. As the master switch is moved from 1ts flrst to Itssecond positlon, the energizing clrcult for conta.ctor 23 Is interrupted and the contactor opens lts maIn contact to disconnect the motor 2I fr0m the sllp rIngs of the motor I0 and also opens 1ts pper Interlock contacts through whlch the energlzing circuit of the lowering contactor I5 was traced. 'I'his Interrupts the energizlng clrcult of the lowering contactor I5 and causes I;hls contactor to open 1ts main con tacts and dl sconnect the motor I0 from the source I2. Contactor 23 In opening, closes its lower lnterlock contacts to complete an energlzing circuit 1'or relay 22. This circuit 1s traced from the lower side 01 the supply source I2 through the operatlng col1 o! relay 22, interlock con'cacts o! contactors 28 and 23, conductor 3I, contacts of device 21 (closed when the motor I0 Is rotat- Ing) conductor H, flngers 28g and 2803 bridged by segments of the master switch and thence to the upper side of the supply source I2. Reluy 22 1x: respondlng to energizatlon closes its main contacts to connect t he motor 2I of thc electrm hydraulic operating mechanism to the source I2 und also closes its upper intermedlate interloc con'tacts to complete am energizlng circult for the holsting.contactor I0. This clrcuit extends from the lower side of the supply source I2 through t) 2 opetatlng coil oi contactor H, Interlock of 10W ing contactor I5 conductor 38, upper internr ate interlock contaciasof relay 22 (new energizedl= und thence by conductor 39, flnger 20b and segments of the masber switch 28 to the power finge:r 28c. 'I'he electro-hydraulic operating mechaniszn. completely releases the brake in response to ener gization of its drlving motor 2I and the hoisting contactor II in closing connects the motor I0 to the source I2 for rotation in a dlrection opposite to that in whlch it is rotating and thus produces a. poWerful braklng force. When relay 22 closed, II: completed an energlzing circuit for the relay 40 tha;t Is traced In the toregolng description. In response, relay 80 closed lI;s contacts. If the opens the holst contactor I4 and relay 22 in open- Ing also recompletes the energlzlng clrcu.lt 101 contactor 23. Contactor 23 in response to energizatlon recloses its maln contacts to connect the motor 2I of the electro-hydraullc operating mechanism to the slip rings of the motor III and also completes a, prevlously traced energizing circuit for the lowering contactor I5. The motor II! then continues to lower the load in response to a. combinatlon of the force cf the load, the lowering torque of the motor III, and the braking force 015 the frictlon brake I6.

II a 'high limit of speed is not to be exceeded when lowering wI-th the master switch on one cf the plugging braking positions 2, 3, or 4 of the master switch, the push button 31 and the speed governor 45 are utilized. If the push button 31 i.s closed and the speed governor 45 closes its coutacts on account cf excessive speed, an energizing circuit is completed for the relay 34 that extends from the lower side of the supply source I2 through the operating coil of the relay 34 and contacts of the speed governor switch 45, thence through contacts of push button 31, segments 28 and 28a of the master switch bridged by the segments thereof and thence through int@rmediate interlock contacts of relay 34 to the upper side of the supply source. Relay 34 responds to energization by closing its upper contacts, opening 1ts intermediate contacts and closing its lower coutacts. Relay 34 in opening its intermediate nontacts Interrupts the energizing circuit of the relay 22 which in response to deenergization opens its main contacts and disconnects the motor 2I from the supply source I2. Relay 34 in closing its lower contacts completes a holding circuit traced from the lower side of the supply source through its operating coil, lower contacts, upper contacts of push button switch 31 to the upper side cf the source I2. In closing its upper contacts, relay 34 establishes an energizing circuit for contactor 25 that extends from the lower side of the source I2 through conductor 29, operating coil of coutactor 25, upper con tacts of relay 34 to the upper slde of the supply source I2. Relay 25 responds to energization and closes its main contacts to connect the primary winding of the frequency changer 24 to the supply source I2. In the closed position of contactor 25, the upper interlock completes an energizing circuit for contactor 25 that is tracecl from the lower side of the supply source I2 through conductor 29, operating coil of couta(:tor 26, lower interlock of relay 22, interlock 015 contactor 25, upper contact of relay 34, thence by oonductor 35 to the upper side of the supply source I2. Contactor 26 closes in response to energiza.tion and connects the motor 2I of the elactro-hydraulic operating mechanism to the secondary winding of the freqnency changer 24. The frequency converter is so designed that at a speed of 70% 1:0 80% of full load speed, equilibriuni exists between the driving power and the brake release power. All loads can, therefore, be lowered at this speed.

Although in accordance with the provlsions of the patent statutes, this invention is described as embodiecl in concrete form, it will be umlerstood that the apparatus and connections shown and described are merely illustrative and that the invention is not limited thereto since alterations and modifications will readily suggest themselves to persons skilled in the art without departing from the spirit cf th1s invention or from the scope of the annexed claims.

What I clalm as new and desire to secure by Letters Patent o! the Unlted States, is:

1. A motor control system comprising a. source 01 voltage, an electric motor supplled froxn said source, a. mechanical brake for said motor bia.sed to braking posltion, an electrodraullc brake operating mechanlsm energlzed from said source for releasing said brake, and means responslve to an operating condition o! said motor for disconnecting said electro-hydraulic brake operating mechanism from said source and energizing lt from a voltage dependent upon the speed of said motor thereby to produce a braking force varying in accordance with the speed of sald motor.

2. A motor control system comprlsing In combination a source of voltage, an inductlon motor supplied from said source, a mechanical brake for said motor, means biaslng said brake to braking position, an electro-hydraulic brake operating mechanism, a master switch for connecting said motor to said source and for connecting said electro-hydraulic operating mechanism to said source to release said brake, and means responsive to the speed cf said motor for disconnecting said operatlng mechanism from said source and connecting said operating mechanism to the secondary winding of said motor thereby to cause said brake to app]y a braking force dependent upon the speed of said motor.

3. A motor control system comprising in combination, a source of supply, an electric motor supplied from said source, a mechanical brake for said motor means biasing said brake to braking position, an electro-hydraulic operating mechanism for said brake, means for connecting said motor to said source and for connect- Ing said operating mechanism to said source to release said brake, means for establishing reverse power braking connections for said motor, and means responsive to decreased speed of said motor for disconnecting said electro-hydraulic operating mechanism from said source and for energizing said mechanism with a voltage dependent upon the speed of said motor thereby to provide a graduated braking Yorce dependent upon the speed of said motor.

4. A control system comprising an induction motor, a source 01' supply therefor, a. mt%chanlcal brake for said motor, means biasing said brake to braking position, an ele'ctro-hydraulic operating mechanism for said brake, means for establishing power connections between said motor and said source and for connecting said electrohydraulic operating mechanism to said source thereby to release said brake, means for establishlng reverse power braking connections for said motor, means responsive to decreased speed of said motor for interrupting said reverse power braking connections and reestablishing said power connectlons and for disconnecting said electro-hydraulie braking mechanism from said source and connecting it to the secondary winding of said motor thereby to provide a braking force dependent upon the speed of said motor.

5. A motor control system for an induction motor subject to overhauling loads comprising a. source of power for said motor, a mechanical brake for said motor biased to braking posltion, electro-hydraulic operating means 'f01' said brake, a master switch for said motor having an off position, a power position and a reverse power braking position, means responsive to operation of. said master switch from said oft posltion to sald power posltion for connectlng said motor nectlons for sa.ld motor, und a. speed switch reto sa.ld source for motoring operation a.nd for connecting said electro-hydraullc operatlng mechanlsm to sa.id source to release sald brate, means responsive to operation of said master swltch Irom said power positlon to sa.ld braklng.

posltion for establlshing reverse power braklng connections for said motor, and a device responsive to stopping of sa1d motor for reestabllshing said power connectlons for sald motor and for disconnecting sa.id electro-hydraullc operating mechanism from said source and connectlng lt to the secondary windlng of sald motor to provide a graduated braking force and thereby to control the overhaullng speed of sald load.

6. A control system for a wound roter induc- 'c1on motor driving a holst and the llke subject to an overhauling load, a source of supply, a mechanical bra.ke for sald motor, an electrohydraul1c operatlng mechanism for said brake, a master switch for controlling the Iowering operation of said motor, sald swltch havlng an ofi posltlon, a power lowerlng posltion und a. reverse power braking positlon between sald ofl and lowering posltlons, means responsive to operatlon of sald swl tching devlce from sald 01T position to sa.ld power lowerlng posltlon for connecting said motor to sa.id source for lowering sald load under power und connecting said electrohydraulic operatlng mechanism to said source rel9ase sald brake, mea.ns responsive to operatlon of sald master swltch to sald braking posltlon for establishlng reverse current braking cansponslve to stopplng of sald motor for reestablishlng said power lowering connections for sald motor and connecting sald electro-hydraullc operating mechanism to the secondary wlndlng o! said motor thereby to provlde agreduated brak- Ing force dependent upon the speed o1 sa.1d motor to efiect lowerin'g of sald overhauling load st substantially constant; speed.

7. A control system for wound roter induction motors drlving hoists und the llke compris- Ing a source of supply, a mechanical bra.ke for said motor, electro-hydraullc operating mechanism for said brake, a master swltch for controlling said motor, sald master switch having an oflf position and a braking positlon a.cacent sa.ld 011 posltion, an electromagnetic switching device for connecting said electro-hydraullc mechanism to the secondary windlng of said motor, sald switching devlce belng normally inactlve when said master switch is In said braking posltiqn, a. second switchlng device for actuating sald e1ectromagnetlc switching device when sald master switch is in sa.id braking positlon to connect sa.1d 

